CN104828712A - Space crane with six degree of freedom - Google Patents
Space crane with six degree of freedom Download PDFInfo
- Publication number
- CN104828712A CN104828712A CN201510223258.2A CN201510223258A CN104828712A CN 104828712 A CN104828712 A CN 104828712A CN 201510223258 A CN201510223258 A CN 201510223258A CN 104828712 A CN104828712 A CN 104828712A
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- CN
- China
- Prior art keywords
- crane
- arm
- revolute pair
- ball
- rocking bar
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
A space crane with six degree of freedom includes a lifting arm mechanism and an arm telescoping mechanism. The lifting arm mechanism is composed of a cargo boom and a suspension boom for the crane to complete spatial operations such as container grab, lifting and unloading; and the parallel boom telescoping mechanism consists of three mechanism sub-chains in series connection. A mechanism connection mode is adopted to enable the crane with compact structure and high reliability. The space crane with six degree of freedom can effectively overcome the shortcomings of high processing precision of hydraulic components, high maintenance cost, low reliability and easy oil leakage of a hydraulic crane, has the advantages of simple control and large work space, and can be widely used in complex operations such as container grab, lifting and unloading.
Description
Technical field
The present invention relates to elevator machinery field, particularly space six degree of freedom hoisting crane.
Background technology
Hoisting crane belongs to material carrying machine, is many actions elevator machinery of vertical-lift within the specific limits and horizontal carrying heavy goods, also known as crane.Lifting function completes the actions such as feeding, migration, unloading in a working cycle, development commercially and use more and more extensive.Traditional hoisting crane is all to be finished the work task by the driving of combining of telescopic oil cylinder, pitching oil cylinder, but this hoisting crane all adopts pure hydraulic driven, its hydraulic efficiency pressure system also exists the distinct disadvantage such as parts machining matching requirements are high, leak, and conventional hoist adopts fisher's formula cascaded structure, has the shortcomings such as poor rigidity, fiduciary level is low, accumulated error is large.
The present invention is by arm of derrick mechanism and lazy arm telescopic mechanism in parallel, by the cooperation of this Liang Ge mechanism, grasping manipulation and the motion control of freight container can be completed, space of the present invention six degree of freedom hoisting crane has compact conformation, and reliability is high, controls simple advantage, working space is large, be applicable to many parts and capture occasion, mechanism adopts mechanism type to connect, can not leakage of oil and generation accumulated error.
Summary of the invention
The object of the present invention is to provide space six degree of freedom hoisting crane, export and frequent load change requirement to meet complicated track in the different operating stage, comprise arm of derrick mechanism and lazy arm telescopic mechanism.Described arm of derrick mechanism is made up of crane arm and arm, and hoisting crane can be made to complete crawl, the spatial operation such as handling and unloading of freight container; The lazy arm telescopic mechanism of described parallel connection is made up of mechanism's subchain of three series connection, mechanism's employing mechanism type connects makes hoisting crane have compact conformation, reliability is high, can effectively overcome hydraulic lift Hydraulic Elements requirement on machining accuracy high, maintenance cost high, fiduciary level is low, leakiness wet goods shortcoming, simultaneously the present invention has and controls the advantages such as simple advantage, working space are large, can be widely used in the complex jobs such as the crawl of freight container, handling and unloading.
The present invention achieves the above object by the following technical programs:
Space six degree of freedom hoisting crane, is made up of arm of derrick mechanism and lazy arm telescopic mechanism.
Described arm of derrick mechanism is formed by Crane body, slide block, crane arm, arm and lift clipper joint, slide block one end is connected with coupling end in the middle part of Crane body by the first revolute pair, crane arm first coupling end is connected with the slide block other end by the second revolute pair, crane arm second coupling end is connected with arm one end by the 3rd revolute pair, and the arm other end is secondary and lift clipper joint by the first ball.
Described lazy arm telescopic mechanism is by Crane body, crane arm, first driving lever, second driving lever, 3rd driving lever, first ball pivot rocking bar, second ball pivot rocking bar and the 3rd ball pivot rocking bar are formed by connecting, first driving lever one end is connected with Crane body front end by the 4th revolute pair, the first driving lever other end is connected with first ball pivot rocking bar one end by the second ball pair, the first ball pivot rocking bar other end is connected with crane arm the 3rd coupling end by the 3rd ball pair, second driving lever one end is connected with Crane body rear end by the 5th revolute pair, the second driving lever other end is connected with second ball pivot rocking bar one end by the 4th ball pair, the second ball pivot rocking bar other end is connected with crane arm the 4th coupling end by the 5th ball pair, 3rd driving lever one end is connected with hoisting crane rear end by the 6th revolute pair, the 3rd driving lever other end is connected with the 3rd ball pivot rocking bar one end by the 6th ball pair, the 3rd ball pivot rocking bar other end is connected with crane arm the 5th coupling end by the 7th ball pair.
In said structure, the flexible of hoisting crane is realized by the change in location of the lazy arm telescopic mechanism of mechanism's subchain composition of three series connection, by the space motion of arm of derrick mechanism of crane arm and arm composition, realize hoisting crane to complex jobs such as the crawl of freight container, handling and unloadings.
Described first revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th revolute pair are positioned in Crane body, and the first revolute pair is perpendicular to Crane body, 4th revolute pair, the 5th revolute pair and the 6th revolute pair are parallel to each other and are parallel to Crane body, and described second revolute pair and the 3rd revolute pair to be positioned on crane arm and to be parallel to each other.
Outstanding advantages of the present invention is:
1, three driving levers of space six degree of freedom hoisting crane can by driven by servomotor, and alternate manner drives, and type of drive is flexible and changeable, is conducive to the control of hoisting crane;
2, the present invention uses multiple swivel coupling and ball pivot rocking bar, and control simple, reliability is high, and the lazy arm telescopic mechanism accumulated error of the parallel connection of formation is little, considerably increases the rigidity of hoisting crane;
3, the present invention adopts and closes chain-drive form, effective weight reducing each component, has that movement inertia is little, track exports flexibly, reliable operation, precision advantages of higher;
4, the present invention is by a with gemel arm and lift clipper joint, and mechanism has multiple degree of freedom and multi-activity degree, and the flexibility ratio of the work such as crawl, handling and handling can be made higher, and working space is larger, and tractive performance is better and be easy to control;
5, the present invention has operated the task of hoisting crane by mechanism type, can overcome the shortcomings such as process and assemble difficulty, leakage of oil and maintenance cost are high.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of embodiment of space of the present invention six degree of freedom hoisting crane.
Fig. 2 is the work initial condition schematic diagram of space of the present invention six degree of freedom hoisting crane.
Fig. 3 is the crawl working state schematic representation of space of the present invention six degree of freedom hoisting crane.
Fig. 4 is the lifting working state schematic representation of space of the present invention six degree of freedom hoisting crane.
Fig. 5 is the upset working state schematic representation of space of the present invention six degree of freedom hoisting crane.
Fig. 6 is the unloaded operation view of space of the present invention six degree of freedom hoisting crane.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, space six degree of freedom hoisting crane, its structure and connection mode are:
Described arm of derrick mechanism clamps 11 by Crane body 1, slide block 2, crane arm 3, arm 4 and lift and is formed by connecting, slide block 2 one end is connected by the first revolute pair 12 and Crane body 1 first coupling end, crane arm 3 first coupling ends are connected with slide block 2 other end by the second revolute pair 13, crane arm 3 second coupling ends are connected with arm 4 one end by the 3rd revolute pair 14, and arm 4 other end clamps 11 by the first ball secondary 15 with lift and is connected.
Described lazy arm telescopic mechanism is by Crane body 1, crane arm 3, first driving lever 9, second driving lever 5, 3rd driving lever 7, first ball pivot rocking bar 10, second ball pivot rocking bar 6 and the 3rd ball pivot rocking bar 8 are formed by connecting, first driving lever 9 one end is connected with Crane body 1 front end by the 4th revolute pair 24, first driving lever 9 other end is connected with first ball pivot rocking bar 10 one end by the second ball secondary 22, first ball pivot rocking bar 10 other end is connected with crane arm 3 the 3rd coupling end by the 3rd ball secondary 23, second driving lever 5 one end is connected with Crane body 1 rear end by the 5th revolute pair 16, second driving lever 5 other end is connected with second ball pivot rocking bar 6 one end by the 4th ball secondary 17, second ball pivot rocking bar 6 other end is connected with crane arm 3 the 4th coupling end by the 5th ball secondary 18, 3rd driving lever 7 one end is connected with hoisting crane 1 rear end by the 6th revolute pair 19, 3rd driving lever 7 other end is connected with the 3rd ball pivot rocking bar 8 one end by the 6th ball secondary 20, 3rd ball pivot rocking bar 8 other end is connected with crane arm 3 the 5th coupling end by the 7th ball secondary 21.
In said structure, the flexible of hoisting crane is realized by the change in location of the lazy arm telescopic mechanism of mechanism's subchain composition of three series connection, by the space motion of arm of derrick mechanism of crane arm and arm composition, realize hoisting crane to complex jobs such as the crawl of freight container, handling and unloadings.
Described first revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th revolute pair are positioned in Crane body, and the first revolute pair is perpendicular to Crane body, 4th revolute pair, the 5th revolute pair and the 6th revolute pair are parallel to each other and are parallel to Crane body, and described second revolute pair and the 3rd revolute pair to be positioned on crane arm and to be parallel to each other.
In said structure, the flexible of hoisting crane is realized by the change in location of the lazy arm telescopic mechanism of mechanism's subchain composition of three series connection, by the space motion of arm of derrick mechanism of crane arm and arm composition, realize hoisting crane to complex jobs such as the crawl of freight container, handling and unloadings.
Described first revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th revolute pair are positioned in Crane body, and the first revolute pair is perpendicular to Crane body, 4th revolute pair, the 5th revolute pair and the 6th revolute pair are parallel to each other and are parallel to Crane body, and described second revolute pair and the 3rd revolute pair to be positioned on crane arm and to be parallel to each other.
As shown in Figure 2, the present invention is in the initial condition of dead work, and crane arm 3 and arm 4 are all in low level, and lazy arm telescopic mechanism is in preparation and supports weighing arm state.
As shown in Figure 3, the present invention, under the driving of lazy arm telescopic mechanism supports, completes the crawl operation to desired location freight container.
As shown in Figure 4, the present invention, under the driving of lazy arm telescopic mechanism and arm supports, completes the further lifting to capturing freight container.
As shown in Figure 5, the present invention, under the driving of lazy arm telescopic mechanism supports, completes moving in parallel freight container; Under the driving of arm supports, complete the rotary movement to freight container.
As shown in Figure 6, the present invention, under the driving of lazy arm telescopic mechanism supports, completes the upset to freight container and handling.
The space six degree of freedom hoisting crane of the present invention's design, after completing handling task, resets to initial condition as shown in Figure 2, prepares crawl next time, lifting and handling task.
Claims (1)
1. space six degree of freedom hoisting crane, it is characterized in that: described arm of derrick mechanism is by Crane body, slide block, crane arm, arm and lift clipper joint form, slide block one end is connected with coupling end in the middle part of Crane body by the first revolute pair, crane arm first coupling end is connected with the slide block other end by the second revolute pair, crane arm second coupling end is connected with arm one end by the 3rd revolute pair, the arm other end is secondary and lift clipper joint by the first ball, described lazy arm telescopic mechanism is by Crane body, crane arm, first driving lever, second driving lever, 3rd driving lever, first ball pivot rocking bar, second ball pivot rocking bar and the 3rd ball pivot rocking bar are formed by connecting, first driving lever one end is connected with Crane body front end by the 4th revolute pair, the first driving lever other end is connected with first ball pivot rocking bar one end by the second ball pair, the first ball pivot rocking bar other end is connected with crane arm the 3rd coupling end by the 3rd ball pair, second driving lever one end is connected with Crane body rear end by the 5th revolute pair, the second driving lever other end is connected with second ball pivot rocking bar one end by the 4th ball pair, the second ball pivot rocking bar other end is connected with crane arm the 4th coupling end by the 5th ball pair, 3rd driving lever one end is connected with hoisting crane rear end by the 6th revolute pair, the 3rd driving lever other end is connected with the 3rd ball pivot rocking bar one end by the 6th ball pair, the 3rd ball pivot rocking bar other end is connected with crane arm the 5th coupling end by the 7th ball pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510223258.2A CN104828712A (en) | 2015-04-27 | 2015-04-27 | Space crane with six degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510223258.2A CN104828712A (en) | 2015-04-27 | 2015-04-27 | Space crane with six degree of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104828712A true CN104828712A (en) | 2015-08-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510223258.2A Pending CN104828712A (en) | 2015-04-27 | 2015-04-27 | Space crane with six degree of freedom |
Country Status (1)
| Country | Link |
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| CN (1) | CN104828712A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019172824A1 (en) * | 2018-03-06 | 2019-09-12 | Cargotec Patenter Ab | Cargo handling vehicle for navigation in narrow aisles and method therefore |
| CN112177556A (en) * | 2020-09-22 | 2021-01-05 | 宝鸡市赛孚石油机械有限公司 | Wellhead grabbing and lifting operation mode of pumping cable blowout preventer |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2209322A (en) * | 1987-09-02 | 1989-05-10 | British Petroleum Co Plc | Folding boom |
| CN102108717A (en) * | 2010-12-10 | 2011-06-29 | 广西大学 | Loading mechanism with metamorphic function and implementation mechanism thereof |
| CN103168570A (en) * | 2013-04-11 | 2013-06-26 | 广西大学 | Human-driven cane loader with metamorphic function |
| CN103790191A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Hybrid-drive excavating machine with metamorphic mechanism |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104074214A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Two freedom degree controllable type loading mechanism with initiative metamorphic function |
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2015
- 2015-04-27 CN CN201510223258.2A patent/CN104828712A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2209322A (en) * | 1987-09-02 | 1989-05-10 | British Petroleum Co Plc | Folding boom |
| CN102108717A (en) * | 2010-12-10 | 2011-06-29 | 广西大学 | Loading mechanism with metamorphic function and implementation mechanism thereof |
| CN103168570A (en) * | 2013-04-11 | 2013-06-26 | 广西大学 | Human-driven cane loader with metamorphic function |
| CN103790191A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Hybrid-drive excavating machine with metamorphic mechanism |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104074214A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Two freedom degree controllable type loading mechanism with initiative metamorphic function |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019172824A1 (en) * | 2018-03-06 | 2019-09-12 | Cargotec Patenter Ab | Cargo handling vehicle for navigation in narrow aisles and method therefore |
| CN111867965A (en) * | 2018-03-06 | 2020-10-30 | 卡哥泰克专利股份公司 | Cargo handling vehicle driven in narrow aisles and method therefor |
| CN111867965B (en) * | 2018-03-06 | 2021-12-31 | 货物科技瑞典有限公司 | Cargo handling vehicle driven in narrow aisles and method therefor |
| CN112177556A (en) * | 2020-09-22 | 2021-01-05 | 宝鸡市赛孚石油机械有限公司 | Wellhead grabbing and lifting operation mode of pumping cable blowout preventer |
| CN112177556B (en) * | 2020-09-22 | 2022-12-13 | 宝鸡市赛孚石油机械有限公司 | Wellhead grabbing and lifting operation mode of pumping cable blowout preventer |
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Application publication date: 20150812 |
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